CN109204715A - A kind of unmanned operation ship and its workflow - Google Patents
A kind of unmanned operation ship and its workflow Download PDFInfo
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- CN109204715A CN109204715A CN201811145742.8A CN201811145742A CN109204715A CN 109204715 A CN109204715 A CN 109204715A CN 201811145742 A CN201811145742 A CN 201811145742A CN 109204715 A CN109204715 A CN 109204715A
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- salvage
- operation ship
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 38
- 238000007667 floating Methods 0.000 claims abstract description 24
- 239000013598 vector Substances 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims abstract description 11
- 239000003643 water by type Substances 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims 1
- 239000007924 injection Substances 0.000 claims 1
- 239000000463 material Substances 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 4
- 230000005611 electricity Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 229910021389 graphene Inorganic materials 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- JEGUKCSWCFPDGT-UHFFFAOYSA-N h2o hydrate Chemical compound O.O JEGUKCSWCFPDGT-UHFFFAOYSA-N 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/14—Hull parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of unmanned operation ship and its workflows, including operation hull, the hull is catamaran type, the hull center is concave configuration, table is horizontal plane on hull two sides, two side bottoms of the hull are provided with floating drum, the tail portion upper end of the hull is additionally provided with overline bridge, it is located on the horizontal plane of two sides on the hull and is provided with Multi-freedom-degreemanipulator manipulator, with the electric box being electrically connected with the Multi-freedom-degreemanipulator manipulator, the both ends of the horizontal plane are additionally provided with sensor, communication apparatus is installed on the overline bridge, the floating drum lower end is additionally provided with vector propeller, driving device is additionally provided on the hull, the salvage operation of present invention realization water surface object, effective salvage facility is provided for life relief and goods and materials rescue.
Description
Technical field
The present invention relates to salvage equipment technology field, especially a kind of unattended salvage operation ship and its workflow
Journey.
Background technique
The salvage career field starting in China is relatively late, also very thin in the salvage ability of many salvage career fields
It is weak.For example large-scale crane ship of salvaging cannot be introduced into shallow water and narrow water progress salvage work, add by traditional diver floating
Cylinder salvaging mode there are diver's large labor intensity, salvage low efficiency, can carry salvage goods and materials weight bearing it is small, safety is poor, work
The problems such as phase is long；There are severe sea condition, night visions to obscure when at sea being searched and rescued using small-sized rescue boat, driver's labour is strong
The problems such as degree is big, safety is poor.And certain perils on the sea goods and materials, polar low-temperature marine environment operation are being salvaged, it is existing to have
The Rescue Ships that people drives have biggish risk.Therefore a kind of high speed unmanned operation ship is needed to fill up field blank.It is anxious at present
Need to solve: 1. which kind of Ship Structure are suitble to salvage operation, 2. hulls how autonomous navigation and avoiding obstacles, how 3. capture and rescue
The problem of fishing out object's position and carrying out salvage operation.
Summary of the invention
The technical problem to be solved by the present invention is it is of the existing technology in above-mentioned background technique in order to solve the problems, such as,
A kind of improved unmanned operation ship and its workflow are provided.
The technical solution adopted by the present invention to solve the technical problems is: a kind of unmanned operation ship, including operation hull, institute
The hull stated is catamaran type, and couple structure guarantees hull stationarity in operation process, is not easy to topple and is conducive to run at high speed, institute
Stating hull center is concave configuration, and table is horizontal plane on hull two sides, and two side bottoms of the hull are provided with floating drum, institute
The tail portion upper end for stating hull is additionally provided with overline bridge, is located on the horizontal plane of two sides on the hull and is provided with multi freedom degree mechanical
Hand, and the electric box with Multi-freedom-degreemanipulator manipulator electrical connection, the both ends of the horizontal plane are additionally provided with sensor, institute
Communication apparatus is installed, the floating drum lower end is additionally provided with vector propeller on the overline bridge stated；
Both ends use conical head before and after vector propeller, and outer fairings can make ejection water flow reach ultrahigh speed shape
The advantages that state, powerful, inner rotator, flow velocity are adjusted controllably, are individually controlled, and 360 degrees omnidirection turns to；
Constitute intelligence control system in the electric box, be the nerve center of unmanned operation ship, mainly by communication module,
Data processing module, electric power supervisory control module navigate by water module, vector propeller control module, sink-float system control mould automatically
Block, Multi-freedom-degreemanipulator manipulator control module etc. composition, according to external information fulfil assignment the automatic sail mode of ship, operation ship salvage
The decision strategies such as posture, manipulator salvaging mode, and control the operation of the equipment such as corresponding vector propeller, pump, valve, manipulator；
Unmanned operation ship uses miniature quantum computer to receive rescuing for lash ship sending for the artificial intelligent control system of core
Object's position signal is fished out, manipulation fore body is to pass through laser thunder near the catamaran type operation ship autonomous navigation to salvage object of V-shaped part
Reach, the devices such as camera collect external environmental information, after artificial intelligent control system is handled, manipulate vector propeller (vector
Propeller is electromagnetic suspension rotor formula structure, can 360 degree rotation) and sink-float system (adjusting operation ship waterline height) make operation ship
In best salvage posture, the automatic salvage object of Multi-freedom-degreemanipulator manipulator and auto-returned lash ship are manipulated；
Further, hull front end of the present invention is provided with v-shaped openings, and salvage object is facilitated to lead when entering hull
To centering；
Further, floating drum of the present invention includes floating body, and at least two ballast water tank waters are provided in the floating body,
The ballast water tank water bottom is provided with the intake-outlet with electric butterfly valve, and the ballast water tank water is connected with compressed air
Pump injects air by compressed air pump and the water discharge in ballast water tank water is realized that hull floats, by infusing into ballast water tank water
Water realizes Hull sinkage；
Further, (mechanical arm is referring to automobile by multi-degree-of-freemechanical mechanical arm for Multi-freedom-degreemanipulator manipulator of the present invention
Industry industrial robot is designed, mounting plate and handgrip form, and it is living that multi-angle is provided in the multi-degree-of-freemechanical mechanical arm
Movable joint, the mounting plate are flexibly connected by driving gear set with the multi-degree-of-freemechanical mechanical arm, the installation backboard
Portion is provided with servo motor, and the handgrip is fixed on the mounting plate, the handgrip be circular arc pawl dish structure, handgrip with
Electric pushrod is provided between the mounting plate, the handgrip end is provided with anti-off board, and grip portion is according to salvage object
Carry out it is individually designed, be initially designed into can opening and closing have the mechanism form of arc plate, handgrip can rotate freely around wrist, convenient fast
The whole crawl angle of velocity modulation；
Further, communication apparatus of the present invention includes radar, antenna and camera, constitutes communication navigation system,
It is mainly used for receiving the salvage object's position signal of lash ship offer and lash ship position signal, receives control of the lash ship to unmanned operation ship
Signal processed, Real-time Feedback unmanned operation ship location information to lash ship, Real-time Feedback unmanned operation ship operating status to lash ship etc.；
Further, it is additionally provided with liquid level sensor and pressure sensor in floating body of the present invention, cooperates hull four
The ultrasonic sensor in week, camera on overline bridge etc. constitute composite signal and acquire imaging system, can constantly acquire hull appearance
The information such as state, external environment, salvage object's position, are transmitted to intelligence control system after respective handling resume module, for nobody
Relevant device operation on operation ship provides decision information；
Further, driving device of the present invention is using the full electric drive of battery, by new and effective, quick charge
Formula it is huge can graphene battery electric power is provided, so as to meet continuation of the journey long and facilitate punching can etc. functional requirements.Electric system battery
It is composed in parallel using the novel huge energy graphene battery plate of muti-piece, voltage AC380V facilitates charging, and shell wraps up fire-proof plate, interior
Fire barrier is arranged in portion, and every piece of solar panel is respectively provided with independent safety device, and internal battery pack setting is cold to follow bad pipeline, Neng Gouyou
Effect prevents battery pack from the hidden danger such as overheat burning occur.The set electric system can guarantee salvaging required by task electricity consumption in 1 day, and energy
It is fully charged in a whole night.
Workflow of the invention are as follows:
1) after lash ship discovery salvage target, unmanned operation ship is discharged using the installations and facilities on ship；
2) the salvage object location information given according to lash ship, near autonomous navigation to salvage object；
3) the salvage object detected according to sensor and unmanned operation ship relative position control through intelligence control system and swear
Propeller rotational angle is measured, adjust automatically Attitude makes operation ship ship midship line be directed at salvage object centerline；
4) unmanned operation ship slowly navigates by water forward, so that salvage object is entered job platform stem guiding V-shaped part, continues to move ahead
Until salvage object reaches substantially to V-shaped part end；
5) two Multi-freedom-degreemanipulator manipulators are controlled by intelligence control system to cooperate, is jointly adjusted to salvage object
Horizontality is simultaneously fixedly clamped；
6) when returning to lash ship, salvage object is on sea, reduces resistance.
The beneficial effects of the present invention are: a kind of unmanned operation ship of the invention solves the problems, such as traditional technology,
Salvage efficiency is improved, is eliminated safe hidden trouble；Unattended, intelligent and safe, high-efficiency environment friendly, suitable under rough seas
Salvage task；Change equipment component, the expanding functions such as achievable polar region scientific investigation sampling, dangerously exposed waters Sampling Survey.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is hull positive structure schematic in the present invention；
Fig. 3 is hull front end v-shaped openings structural schematic diagram in the present invention；
Fig. 4 is Multi-freedom-degreemanipulator manipulator structural schematic diagram in the present invention；
Fig. 5 is the structural schematic diagram of floating drum in the present invention.
In figure: 1. hulls, 2. floating drums, 3. overline bridges, 4. Multi-freedom-degreemanipulator manipulators, 5. electric boxs, 6. sensors, 7. vectors push away
Into device, 8. floating bodies, 9. ballast water tank waters, 10. electric butterfly valves, 11. intake-outlets, 12. compressed air pumps, 13. multi freedom degree mechanicals
Arm, 14. mounting plates, 15. handgrips, 16. driving gear sets, 17. servo motors, 18. electric pushrods, 19. anti-off boards, 20. radars,
21. antenna, 22. cameras.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4 and a kind of embodiment of unmanned operation ship of the present invention shown in fig. 5, including operation ship
Body 1, the hull 1 are catamaran type, and couple structure guarantees hull stationarity in operation process, are not easy to topple and be conducive to high speed
Traveling, 1 center of hull is concave configuration, and table is horizontal plane on hull two sides, and two side bottoms of the hull 1 are respectively provided with
There is floating drum 2, the tail portion upper end of the hull 1 is additionally provided with overline bridge 3, is located on the horizontal plane of two sides on the hull 1 and is provided with
Multi-freedom-degreemanipulator manipulator 4, and the electric box 5 with the Multi-freedom-degreemanipulator manipulator 4 electrical connection, the both ends of the horizontal plane are also
It is provided with sensor 6, communication apparatus is installed on the overline bridge 3,2 lower end of floating drum is additionally provided with vector propeller 7；
7 front and back both ends of vector propeller use conical head, and outer fairings can make ejection water flow reach ultrahigh speed state, power
The advantages that powerful, inner rotator, flow velocity is adjusted controllably, is individually controlled, 360 degrees omnidirection steering；
Intelligence control system is constituted in the electric box 5, is the nerve center of unmanned operation ship, mainly by communication mould
Block, electric power supervisory control module, navigates by water module, vector propeller control module, sink-float system control at data processing module automatically
The composition such as module, Multi-freedom-degreemanipulator manipulator control module, beats according to the fulfil assignment automatic sail mode of ship, operation ship of external information
The decision strategies such as posture, manipulator salvaging mode are fished out, and control the equipment such as corresponding vector propeller, pump, valve, manipulator fortune
Row；
1 front end of hull is provided with v-shaped openings 8, guiding centering when salvage object being facilitated to enter hull 1；
The floating drum 2 includes floating body 8, is provided at least two ballast water tank waters 9, the ballast in the floating body 8
9 bottom of water tank is provided with the intake-outlet 11 with electric butterfly valve 10, and the ballast water tank water 9 is connected with compressed air pump 12,
Air is injected by compressed air pump 12, the water discharge in ballast water tank water 9 is realized that hull 1 floats, by into ballast water tank water 9
Water filling realizes that hull 1 sinks；
(mechanical arm is referring to automobile industry industrial machine by multi-degree-of-freemechanical mechanical arm 13 for the Multi-freedom-degreemanipulator manipulator 4
People is designed), mounting plate 14 and handgrip 15 form, multi-angle activity pass is provided in the multi-degree-of-freemechanical mechanical arm 13
Section, the mounting plate 14 are flexibly connected by driving gear set 16 with the multi-degree-of-freemechanical mechanical arm 13, the mounting plate
14 backs are provided with servo motor 17, and the handgrip 15 is fixed on the mounting plate 14, and the handgrip 15 is circular arc pawl
Dish structure, is provided with electric pushrod 18 between handgrip 15 and the mounting plate 14,15 end of handgrip is provided with anti-off board
19,15 part of handgrip according to salvage object structure carry out it is individually designed, be designed to can opening and closing have arc plate mechanism form, grab
Hand can be rotated freely around wrist, fast and easy adjustment crawl angle；
The communication apparatus includes radar 20, antenna 21 and camera 22, constitutes communication navigation system, is mainly used for connecing
The salvage object's position signal and lash ship position signal, reception lash ship for receiving lash ship offer are to the control signal of unmanned operation ship, reality
When feedback unmanned operation ship location information to lash ship, Real-time Feedback unmanned operation ship operating status to lash ship etc.；
It is additionally provided with liquid level sensor and pressure sensor in the floating body 8, cooperates the supersonic sensing of 1 surrounding of hull
Camera 22 on device, overline bridge 3 etc. constitutes composite signal and acquires imaging system, can constantly acquire 1 posture of hull, external rings
The information such as border, salvage object's position, are transmitted to intelligence control system after respective handling resume module, are on unmanned operation ship
Relevant device operation provides decision information；
The driving device is using the full electric drive of battery, by the huge energy graphene electricity of new and effective, quick charge formula
Pond provides electric power, so as to meet continuation of the journey long and facilitate punching can etc. functional requirements.Electric system battery is novel huge using muti-piece
Energy graphene battery plate composes in parallel, voltage AC380V, facilitates charging, and shell wraps up fire-proof plate, and fire barrier is arranged in inside,
Every piece of solar panel is respectively provided with independent safety device, and internal battery pack setting is cold to follow bad pipeline, battery pack can be effectively prevent to send out
The hidden danger such as raw overheat burning.The set electric system can guarantee salvaging required by task electricity consumption in 1 day, and can be full of in a whole night
Electricity.
Salvage process:
1) after lash ship discovery salvage target, unmanned operation ship is discharged using the installations and facilities on ship；
2) the salvage object location information given according to lash ship, near autonomous navigation to salvage object；
3) the salvage object detected according to sensor and unmanned operation ship relative position control through intelligence control system and swear
Propeller rotational angle is measured, adjust automatically Attitude makes operation ship ship midship line be directed at salvage object centerline；
4) unmanned operation ship slowly navigates by water forward, so that salvage object is entered job platform stem guiding V-shaped part, continues to move ahead
Until salvage object reaches substantially to V-shaped part end；
5) two Multi-freedom-degreemanipulator manipulators are controlled by intelligence control system to cooperate, is jointly adjusted to salvage object
Horizontality is simultaneously fixedly clamped；
6) when returning to lash ship, salvage object is on sea, reduces resistance.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (8)
1. a kind of unmanned operation ship, it is characterised in that: including operation hull (1), the hull (1) is catamaran type, the ship
Body (1) center is concave configuration, and table is horizontal plane on hull (1) two sides, and two side bottoms of the hull (1) are provided with floating
Cylinder (2), the tail portion upper end of the hull (1) are additionally provided with overline bridge (3), are located on the horizontal plane of two sides on the hull (1) and are set
It is equipped with Multi-freedom-degreemanipulator manipulator (4), and the electric box (5) with the Multi-freedom-degreemanipulator manipulator (4) electrical connection, the level
The both ends in face are additionally provided with sensor (6), and communication apparatus is equipped on the overline bridge (3), and the floating drum (2) lower end is also set
It is equipped with vector propeller (7), the hull is additionally provided with driving device on (1).
2. a kind of unmanned operation ship according to claim 1, it is characterised in that: described hull (1) front end is provided with V word
Shape opening.
3. a kind of unmanned operation ship according to claim 1, it is characterised in that: the floating drum (2) includes floating body (8),
It is provided at least two ballast water tank waters (9) in the floating body (8), the ballast water tank water (9) bottom is provided with electronic
The intake-outlet (11) of butterfly valve (10), the ballast water tank water (9) are connected with compressed air pump (12), pass through compressed air pump
(12) the water discharge in ballast water tank water (9) is realized that hull (1) floats by injection air.
4. a kind of unmanned operation ship according to claim 1, it is characterised in that: the Multi-freedom-degreemanipulator manipulator (4) by
Multi-degree-of-freemechanical mechanical arm (13), mounting plate (14) and handgrip (15) composition, the multi-degree-of-freemechanical mechanical arm are provided on (13)
Multi-angle turning joint, the mounting plate (14) pass through driving gear set (16) and the multi-degree-of-freemechanical mechanical arm (13) activity
Connection, the mounting plate (14) back are provided with servo motor (17), and the handgrip (15) is fixed on the mounting plate
(14) on, the handgrip (15) is circular arc pawl dish structure, is provided with electronic push away between handgrip (15) and the mounting plate (14)
Bar (18), the handgrip (15) end are provided with anti-off board (19).
5. a kind of unmanned operation ship according to claim 1, it is characterised in that: the communication apparatus includes radar
(20), antenna (21) and camera (22).
6. a kind of unmanned operation ship according to claim 3, it is characterised in that: be additionally provided with liquid in the floating body (8)
Level sensor and pressure sensor.
7. a kind of unmanned operation ship according to claim 1, it is characterised in that: the driving device is using battery
Full electric drive.
8. a kind of workflow of unmanned operation ship described in -7 according to claim 1, it is characterised in that:
1) after lash ship discovery salvage target, unmanned operation ship is discharged using the installations and facilities on ship；
2) the salvage object location information given according to lash ship, near autonomous navigation to salvage object；
3) the salvage object detected according to sensor and unmanned operation ship relative position are pushed away through intelligence control system control vector
Into device rotational angle, adjust automatically Attitude makes operation ship ship midship line be directed at salvage object centerline；
4) unmanned operation ship slowly navigates by water forward, make salvage object enter job platform stem guiding V-shaped part, continue move ahead until
Until salvage object reaches substantially to V-shaped part end；
5) two Multi-freedom-degreemanipulator manipulators are controlled by intelligence control system to cooperate, salvage object is adjusted to horizontal jointly
State is simultaneously fixedly clamped；
6) when returning to lash ship, salvage object is on sea, reduces resistance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145742.8A CN109204715A (en) | 2018-09-29 | 2018-09-29 | A kind of unmanned operation ship and its workflow |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811145742.8A CN109204715A (en) | 2018-09-29 | 2018-09-29 | A kind of unmanned operation ship and its workflow |
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| CN109204715A true CN109204715A (en) | 2019-01-15 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110027684A (en) * | 2019-05-15 | 2019-07-19 | 大连民族大学 | A kind of water surface sewage cleaning device |
| CN110683000A (en) * | 2019-09-29 | 2020-01-14 | 哈尔滨工程大学 | System for independently spacing and collecting and releasing ocean navigation ware |
| CN112407171A (en) * | 2020-12-28 | 2021-02-26 | 上海大学 | Unmanned underwater vehicle deployment and recovery system and deployment and recovery method |
| CN114475976A (en) * | 2022-01-26 | 2022-05-13 | 江苏科技大学 | Intelligent marine movable life saving device |
| ES2955225A1 (en) * | 2022-04-21 | 2023-11-29 | Univ Cadiz | RIGID LAUNCH AND RECOVERY SYSTEM OF AN AUTONOMOUS UNDERWATER VEHICLE FROM AN AUTONOMOUS SURFACE MARINE VEHICLE (Machine-translation by Google Translate, not legally binding) |
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